2018-11-20T01:23:06Zhttp://ijr.kntu.ac.ir/?_action=export&rf=summon&issue=23262015-12-01International Journal of Robotics, Theory and ApplicationsIJR2008-71442008-7144201543Optimal Trajectory Generation for Energy Consumption Minimization and Moving Obstacle Avoidance of SURENA III Robot’s ArmMohammadMahdavianAghilYousefi-KomaMasoudShariat-PanahiMajidKhadivAmirmasoudGhasemi ToudeshkiIn this paper, trajectory generation for the 4 DOF arm of SURENA III humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. For this purpose, first, kinematic equations for a seven DOF manipulator are derived. Then, using the Lagrange method, an explicit dynamics model for the arm is developed. In the next step, in order to generate the desired trajectory for the arm, two different methods are utilized. In the first method, each joint motion is presented by a quadratic polynomial. In the second one, the end effector’s path has been considered as 3 polynomial functions. Also, a known moving spherical obstacle with a linear path and constant velocity is considered in robot workspace. The main goal of optimization is to reduce the consumed energy by the arm in a movement between two known points in a specified time frame to avoid the moving obstacle. Initial and final velocities of the arm are set as zero. To this end, the optimization is carried out using Genetic Algorithm. Finally, in order to obtain the most reliable solutions for trajectory generation, many optimizations with various parameters are conducted and the results are presented and discussed.SURENA III
Minimal Energy Consumption
Trajectory generation
Genetic Algorithms
Optimization2015120119http://ijr.kntu.ac.ir/article_13763_ed7e93a6690b99aaa4599a2f69c5ce6e.pdf2015-12-01International Journal of Robotics, Theory and ApplicationsIJR2008-71442008-7144201543Are Autonomous Mobile Robots Able to Take Over Construction? A ReviewHadiArdinyStefanWitwickiFrancescoMondadaAlthough construction has been known as a highly complex application field for autonomous robotic systems, recent advances in this field offer great hope for using robotic capabilities to develop automated construction. Today, space research agencies seek to build infrastructures without human intervention, and construction companies look to robots with the potential to improve construction quality, efficiency, and safety, not to mention flexibility in architectural design. However, unlike production robots used, for instance, in automotive industries, autonomous robots should be designed with special consideration for challenges such as the complexity of the cluttered and dynamic working space, human-robot interactions and inaccuracy in positioning due to the nature of mobile systems and the lack of affordable and precise self-positioning solutions. This paper briefly reviews state-of-the-art research into automated construction by autonomous mobile robots. We address and classify the relevant studies in terms of applications, materials, and robotic systems. We also identify ongoing challenges and discuss about future robotic requirements for automated construction.Automated constructionAutonomous robotsMobile robotsreviewChallenges201512011021http://ijr.kntu.ac.ir/article_13385_ba582e6a1d4952a0510eada09b2c65a3.pdf2015-12-01International Journal of Robotics, Theory and ApplicationsIJR2008-71442008-7144201543Dynamic Modeling and Construction of a New Two-Wheeled Mobile Manipulator: Self-balancing and ClimbingSaeedEbrahimiArmanMardaniDesigning the self-balancing two-wheeled mobile robots and reducing undesired vibrations are of great importance. For this purpose, the majority of researches are focused on application of relatively complex control approaches without improving the robot structure. Therefore, in this paper we introduce a new two-wheeled mobile robot which, despite its relative simple structure, fulfills the required level of self-balancing without applying any certain complex controller. To reach this goal, the robot structure is designed in a way that its center of gravity is located below the wheels' axle level. The attention is more paid to obtaining a self-balancing model in which the robot’s arms and other equipment follow relatively low oscillations when the robot is subjected to a sudden change. After assembling the robot using the Sim-Mechanics toolbox of Matlab, several simulations are arranged to investigate the robot ability in fulfilling the required tasks. Further verifications are carried out by performing various experiments on the real model. Based on the obtained results, an acceptable level of balancing, oscillation reduction, and power supply is observed. To promote the self-balancing two-wheeled mobile manipulator, its platform is modified to climb high obstacles. In order to obtain this aim, some transformations are done in mechanical aspects like wheels, arms and main body without any increase in DOFs. The robot is supposed to follow proposed motion calculated according to stability criteria. The kinematic equations are utilized to find a possible motion. In a dynamic simulation, the robot ability in passing over an obstacle is verified.Self-stabilityTwo-wheeled robotsStair climbingMobile manipulator201512012234http://ijr.kntu.ac.ir/article_13386_0e6649eda42fd9e1f527e4636f5b703c.pdf2015-12-01International Journal of Robotics, Theory and ApplicationsIJR2008-71442008-7144201543Planning and Control of Two-Link Rigid Flexible Manipulators in Dynamic Object Manipulation MissionsBahramTarvirdizadehKhalilAlipourThis research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (TLRFM) for Dynamic Object Manipulation (DOM) missions. For the first time, achievement of DOM task using a rotating one flexible link robot was taken into account in [20]. The authors do not aim to contribute on either trajectory tracking or vibration control of the End-Effector (EE) of the manipulator; On the contrary, utilizing the powerful tool optimal control accomplishing a point-to-point task for TLRFM is the purpose of the current research. Towards this goal, the pseudospectral method will be developed to meet the optimality conditions subject to system dynamics and boundary conditions. The complicated optimal trajectory planning is formulated as a nonlinear programming problem and solved by SNOPT nonlinear solver. To make robust the response of optimal control against external disturbances as well as model parameter uncertainties, the control partitioning concept is employed. The controlled input is composed of an optimal control-based feedforward part and a PID-based feedback component. The obtained simulation results reveal the usefulness and robustness of the developed composite scheme, in DOM missions.Dynamic object manipulationOptimal trajectory planningPseudospectral methodRigid flexible manipulators201512013545http://ijr.kntu.ac.ir/article_13387_3ac4bdcc6c7fbace1cdc5abde8d21c2c.pdf2015-12-01International Journal of Robotics, Theory and ApplicationsIJR2008-71442008-7144201543Variable Impedance Control for Rehabilitation Robot using Interval Type-2 Fuzzy LogicVahabKhoshdelAliAkbarzadehHamidMoeenfardIn this study, a novel variable impedance control for a lower-limb rehabilitation robotic system using voltage control strategy is presented. The majority of existing control approaches are based on control torque strategy, which require the knowledge of robot dynamics as well as dynamic of patients. This requires the controller to overcome complex problems such as uncertainties and nonlinearities involved in the dynamic of the system, robot and patients. On the other hand, how impedance parameters must be selected is a serious question in control system design for rehabilitation robots. To resolve these problems this paper, presents a variable impedance control based on the voltage control strategy. In contrast to the usual current-based (torque mode) the use of motor dynamics lees to a computationally faster and more realistic voltage-base controller. The most important advantage of the proposed control strategy is that the nonlinear dynamic of rehabilitation robot is handled as an external load, hence the control law is free from robot dynamic and the impedance controller is computationally simpler, faster and more robust with negligible tracking error. Moreover, variable impedance parameters based on Interval Type-2 Fuzzy Logic (IT2Fl) is proposed to evaluate impedance parameters. The proposed control is verified by a stability analysis. To illustrate the effectiveness of the control approach, a 1-DOF lower-limb rehabilitation robot is designed. Voltage-based impedance control are simulated through a therapeutic exercise consist of Isometric and Isotonic exercises. Simulation results show that the proposed voltage-based variable impedance control is superior to voltage-based impedance control in therapeutic exercises.Impedance control Rehabilitation robotInterval type-2 fuzzy logicVoltage-Based control201512014654http://ijr.kntu.ac.ir/article_13388_cdd40485e349fb91e3ee6798267ca565.pdf2015-12-01International Journal of Robotics, Theory and ApplicationsIJR2008-71442008-7144201543Design and Analysis of a Novel Tendon-less Backbone RobotMahdiBamdadArmanMardaniA new type of backbone robot is presented in this paper. The core idea is to use a cross shape mechanism with the principle of functioning of the scissors linkages, known as a pantograph. Although this continuum arm acts quite similar to tendon-driven robot, this manipulator does not include any tendon in its structure. This design does not suffer from the weaknesses of the continuum design such as low payload and coarse positioning accuracy. Kinematic model is developed and the equation of motion for this arm is derived by Lagrange's method. The work envelope and the occupied space investigation are supposed to be established on the comparison between tendon-based model as the common backbone models and our proposed idea. The results show the effectiveness of the backbone design. Mechanism DesignContinuum robotTendon-based robotkinematic analysisDynamics201512015565http://ijr.kntu.ac.ir/article_13404_2197b4bd19282df4a8f62e3e97314eba.pdf2015-12-01International Journal of Robotics, Theory and ApplicationsIJR2008-71442008-7144201543On a Moving Base Robotic Manipulator DynamicsEhsanSadraeiMajidMoghaddamThere are many occasions where the base of a robotic manipulator is attached to a moving platform, such as on a moving ship, terrain or space shuttle. In this paper a dynamic model of a robotic manipulator mounted on a moving base is derived using both Newton-Euler and Lagrange-Euler methods. The presented models are simulated for a Mitsubishi PA10-6CE robotic manipulator characteristics mounted on a ship platform that is moving on ocean and the results are verified through both methods. In this simulation it is assumed that the inertia of the base of the robot is large enough and is not affected by the manipulator motion. However, the motion of the ship directly influences the dynamics of the manipulator in movements. Results and computation time of the two methods are compared and it is shown that the Newton-Euler method needs less computation time than the Lagrange method.Robot manipulator
Manipulator dynamic
Base motion201512016674http://ijr.kntu.ac.ir/article_13764_a8028e57d6834a7bee15d42fffb8d91d.pdf